GSoC Project for Impedance Control
See discussion regarding Cart Impedance and Cart Control msg on ros.org
Start by using the following idea as well as other discussions and real robot definitions. Defined all the parameters for setting Cartesian Impedance mode via messages. Each type of message represents different parameters that need to be set for executing trajectories with Cartesian Impedance.
The ROS robot model is taken from iiwa_stack
Interface with the iiwa controller: GRL